Brake Device and Method for Controlling Same

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a national stage filing under 35 U.S.C § 371 of PCT application number PCT/KR2019/012053 filed on Sep. 18, 2019 which is based upon and claims the benefit of priorities to Korean Patent Application No. 10-2018-0111992, filed on Sep. 19, 2018 in the Korean Intellectual Property Office, which are incorporated herein in their entireties by reference.

BACKGROUND

1. Field of the Invention The present invention relates to a brake apparatus including a solenoid valve driving apparatus and a controlling method thereof. 2. Description of Related Art In general, a brake apparatus including a conventional solenoid valve driving apparatus selectively drives a solenoid valve using a switching element. As an example, a failure determination apparatus of a hydraulic switch capable of determining a failure of a hydraulic switch based on a signal of the hydraulic switch when driving a solenoid valve has been disclosed as described in Korean Patent Publication No. 10-1780607 (2017.09.14). However, the conventional failure determination apparatus of the hydraulic switch has a limitation in efficiently driving the solenoid valve. Also, the conventional failure determination apparatus of the hydraulic switch has a limitation in shortening the maintenance time of a main driver for driving a solenoid valve and a plurality of main switching elements. BRIEF

SUMMARY

Therefore, it is an aspect of the disclosure to provide a brake apparatus including a solenoid valve driving apparatus capable of efficiently driving a solenoid valve, and a controlling method thereof. It is an aspect of the disclosure to provide a brake apparatus including a solenoid valve driving apparatus capable of efficiently driving a solenoid coil and a controlling method thereof. It is an aspect of the disclosure to provide a brake apparatus including a solenoid valve driving apparatus capable of shortening maintenance time for maintenance of a main driver and a plurality of main switching elements, and a controlling method thereof. It is an aspect of the disclosure to provide a brake apparatus including: a solenoid valve provided on the flow path and including a coil to open or close a flow path; a main driving circuit electrically connected to the coil to allow or block a current flowing through the coil; a sub driving circuit electrically connected to the coil and connected in parallel with the main driving circuit to allow or block a current flowing through the coil; a main cut-off switch electrically connected to the main driving circuit; a sub cut-off switch electrically connected to the sub driving circuit; and a processor configured to control at least one of the main driving circuit and the sub driving circuit to drive the solenoid valve. The processor may control the main driving circuit to turn on the main cut-off switch, turn off the sub cut-off switch, and drive the solenoid valve. The processor may control the sub driving circuit to turn on the sub cut-off switch and drive the solenoid valve in response to a failure of the main driving circuit. The main driving circuit may include a main driving switch allowing or blocking a current flowing through the coil, and a main driver configured to control opening/closing of the main driving switch. The sub driving circuit may include a sub driving switch connected in parallel with the main switch to allow or block a current flowing through the coil, and a sub driver configured to control opening/closing of the sub driving switch. The brake apparatus may further include a main diode provided between the coil and the main driving switch; and a sub diode provided between the coil and the sub driving switch. The coil may be connected to a power source, the main cut-off switch and the sub cut-off switch may be connected to a ground, the main driving switch may be provided between the coil and the main cut-off switch, and the sub driving switch may be provided between the coil and the sub cut-off switch. The main diode may allow a current from the coil to the main driving switch and block a current from the main driving switch to the coil. The sub diode may allow a current from the coil to the sub driving switch and block a current from the sub driving switch to the coil. The main cut-off switch and the sub cut-off switch may be connected to a power source, the coil may be connected to a ground, the main driving switch may be provided between the coil and the main cut-off switch, and the sub driving switch may be provided between the coil and the sub cut-off switch. The main diode may allow a current from the main driving switch to the coil and block a current from the coil to the main driving switch. The sub diode may allow current from the coil to the sub driving switch to the coil and block current to the sub driving switch. The processor may include a main processor configured to control the main cut-off switch and the main driving circuit; and a sub processor configured to control the sub cut-off switch and the sub driving circuit. It is an aspect of the disclosure to provide a brake apparatus including: a first solenoid valve including a first coil; a second solenoid valve including a second coil; a first main driving circuit allowing or blocking the current flowing through the first coil; a second main driving circuit allowing or blocking the current flowing through the second coil; a first sub driving circuit connected in parallel with the first main switch to allow or block a current flowing through the first coil; a second sub driving circuit connected in parallel with the second main switch to allow or block a current flowing through the second coil; a main cut-off switch electrically connected to the first and second main driving circuits; a sub cut-off switch electrically connected to the first and second sub driving circuits; and a processor configured to control the first and second main driving circuits, the first and second sub driving circuits, the main cut-off switch, and the sub cut-off switch. The processor may control the first and second main driving circuits to turn on the main cut-off switch, turn off the sub cut-off switch, and drive the first and second solenoid valves. The processor may control the first and second sub driving circuits to turn on the sub cut-off switch and drive the first and second solenoid valves in response to a failure of at least one of the first and second main driving circuits. The first main driving circuit may include a first main driving switch configured to allow or block a current flowing through the first coil and a first main driver configured to control the opening and closing of the first main driving switch. The second main driving circuit may include a second main driving switch configured to allow or block a current flowing through the second coil and a second main driving switch configured to control the opening/closing of the second main driving switch. The first sub driving circuit may include a first sub driving switch connected in parallel with the first main driving switch to allow or block a current flowing through the first coil; and a first sub driver configured to control the opening and closing of the first sub driving switch. The second sub driving circuit may include a second sub driving switch connected in parallel with the second main driving switch to allow or block a current flowing through the second coil; and a second sub driver configured to control the opening and closing of the second sub driving switch. The brake apparatus may further include a first main diode provided between the first coil and the first main driving switch; a second main diode provided between the second coil and the second main driving switch; a first sub diode provided between the first coil and the first sub driving switch; and a second sub diode provided between the second coil and the second sub driving switch. The first and second coils may be connected to a power source, the main cut-off switch and the sub cut-off switch may be connected to ground, the first and second main driving switches may be provided between the first and second coils and the main cut-off switch, respectively, and the first and second sub driving switches may be provided between the first and second coils and the sub cut-off switch. The first and second main diodes may allow currents from the first and second coils to the first and second main driving switches, respectively, and block current from the first and second main driving switches to the first and second coils. The first and second sub diodes may allow currents from the first and second coils to the first and second sub driving switches, respectively, and block current from the first and second sub driving switches to the first and second coils. The main cut-off switch and the sub cut-off switch may be connected to a power source, the first and second coils may be connected to ground, the first and second main driving switches may be provided between the first and second coils and the main cut-off switch, respectively, and the first and second sub driving switches may be provided between the first and second coils and the sub cut-off switch. The first and second main diodes may allow currents from the first and second main driving switches to the first and second coils, respectively, and block a current from the first and second coils to the first and second main driving switches. The first and second sub diodes may allow currents from the first and second sub driving switches to the first and second coils, respectively, and block current from the first and second coils to the first and second sub driving switches. The processor may include a main processor configured to control the main cut-off switch and the first and second main driving circuits; and a sub processor configured to control the sub cut-off switch and the first and second sub driving circuits. It is an aspect of the disclosure to provide a controlling method of a brake apparatus including a solenoid configured to include a coil, a main driving circuit configured to allow or block a current flowing through the coil, a sub driving circuit connected in parallel with the main driving circuit to allow or block a current flowing through the coil; a main cut-off switch electrically connected to the main driving circuit and a sub cut-off switch electrically connected to the sub driving circuit, including: turning on the main cut-off switch; turning off the sub cut-off switch; controlling the main drive circuit to drive the solenoid valve; turning on the sub cut-off switch and controlling the sub driving circuit to drive the solenoid valve in response to a failure of the main driving circuit. A brake apparatus including a solenoid valve driving apparatus and a controlling method thereof according to an aspect of the disclosure may efficiently drive the solenoid valve. A brake apparatus including a solenoid valve driving apparatus and a controlling method thereof according to an aspect of the disclosure may efficiently drive a solenoid coil. A brake apparatus including a solenoid valve driving apparatus and a controlling method thereof according to an aspect of the disclosure may shorten a maintenance time for maintenance of a main driver and a plurality of main switching elements.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view showing a solenoid valve driving apparatus according to an exemplary embodiment of the present invention. FIG. 2 is a view showing a process of forming a magnetic field by operation of a plurality of solenoid coils in order to operate one solenoid valve shown in FIG. 1 . FIG. 3 is a circuit diagram showing as an example of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention. FIG. 4 is a circuit diagram illustrating a state in which the first main voltage regulating switching element shown in FIG. 3 operates abnormally. FIG. 5 is a circuit diagram illustrating a state in which the second main voltage regulating switching element shown in FIG. 3 operates abnormally. FIG. 6 is a circuit diagram illustrating a state in which the main power supply cutoff switching element shown in FIG. 3 operates abnormally. FIG. 7 is a circuit diagram illustrating a state in which the main driver shown in FIG. 3 is abnormally operated as an example. FIG. 8 is a circuit diagram illustrating a solenoid valve driving apparatus according to an exemplary embodiment of the present invention as another example. FIG. 9 is a circuit diagram illustrating a state in which the first main voltage regulating switching element shown in FIG. 8 is abnormally operated, as another example. FIG. 10 is a circuit diagram illustrating a state in which the second main voltage regulating switching element shown in FIG. 8 is abnormally operated, as another example. FIG. 11 is a circuit diagram illustrating a state in which the main power supply cutoff switching element shown in FIG. 8 is abnormally operated, as another example. FIG. 12 is a circuit diagram illustrating a state in which the main driver shown in FIG. 8 is abnormally operated, as another example. FIG. 13 is a flowchart illustrating a method of driving a solenoid valve of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention as an example. FIG. 14 is a circuit diagram illustrating a state in which a solenoid valve driving apparatus according to an exemplary embodiment of the present invention is connected to an identification apparatus. FIG. 15 is a circuit diagram illustrating a state in which a solenoid valve driving apparatus according to an exemplary embodiment of the present invention is connected to an identification apparatus as another example. FIG. 16 is a flow chart illustrating a method of driving a solenoid valve of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention as another example.

DETAILED DESCRIPTION

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the disclosure to a person having ordinary skill in the art to which the disclosure belongs. The disclosure is not limited to the embodiments shown herein but may be embodied in other forms. In order to make the description of the disclosure clear, unrelated parts are not shown and, the sizes of components are exaggerated for clarity. FIG. 1 is a view showing a solenoid valve driving apparatus according to an exemplary embodiment of the present invention, and FIG. 2 is a view showing a process of forming a magnetic field by operation of a plurality of solenoid coils in order to operate one solenoid valve shown in FIG. 1 . Referring to FIGS. 1 and 2 , a solenoid valve driving apparatus according to an exemplary embodiment of the present invention includes a hydraulic control unit HCU 101 and an electronic control unit ECU 102 and 104 . The HCU 101 includes a hydraulic circuit having a flow path, and controls a plurality of wheels 3 , 5 , 7 , and 9 hydraulically using a plurality of solenoid valves 101 a according to the operation of a brake pedal 1 . The plurality of solenoid valves 101 a may open and close the flow path of the HCU 101 . The ECUs 102 and 104 may include a main ECU 102 and a sub ECU 104 . The main ECU 102 and the sub ECU 104 may be provided integrally or may be provided separately. The main ECU 102 is connected to a battery 10 and forms a magnetic field by the operation of solenoid coils 30 a and 30 b to operate the solenoid valve 101 a. The sub ECU 104 is connected to the battery 10 , communicates with the main ECU 102 , and operates the solenoid valve 101 a by forming a magnetic field by the operation of the solenoid coils 30 a and 30 b in place of the main ECU 102 . As an example, the main ECU 102 may operate one of the solenoid valves 101 a by forming a magnetic field by one operation of the solenoid coils 30 a and 30 b, and By operating the sub electronic element through communication with the main ECU 102 when the main electronic element of the main ECU 102 operates abnormally, the sub ECU 104 may control the HCU 101 to operate one of the solenoid valves 101 a by forming a magnetic field in place of the main ECU 102 with the solenoid coils 30 a and 30 b operated by the main ECU 102 . At this time, for a failure in which the sub ECU 104 may not form a magnetic field instead such as a failure of the solenoid coils 30 a, 30 b, the HCU 101 may be operated with reduced performance by operating the other solenoid valves A except for the corresponding solenoid valve 101 a. FIG. 3 is a circuit diagram showing as an example of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention and FIG. 4 is a circuit diagram illustrating a state in which the first main voltage regulating switching element shown in FIG. 3 operates abnormally. FIG. 5 is a circuit diagram illustrating a state in which the second main voltage regulating switching element shown in FIG. 3 operates abnormally, and FIG. 6 is a circuit diagram illustrating a state in which the main power supply cutoff switching element shown in FIG. 3 operates abnormally. FIG. 7 is a circuit diagram illustrating a state in which the main driver shown in FIG. 3 is abnormally operated as an example. Referring to FIGS. 3 to 7 , the solenoid valve driving apparatus according to an exemplary embodiment of the present invention may include a plurality of solenoid coils 30 a and 30 b, a main ECU 102 and a sub ECU 104 . The plurality of solenoid coils 30 a and 30 b may be connected to the battery 10 . In this case, the plurality of solenoid coils 30 a and 30 b may include a first solenoid coil 30 a and a second solenoid coil 30 b, and may be further provided in three or more. Here, the solenoid coils 30 a and 30 b may be designated as a plurality of groups, and the plurality of groups may be powered and cut off by the main cut-off switching element MS 3 and the sub cut-off switching element SS 3 . The main electronic elements of the main ECU 102 may include a plurality of main switching elements MS 1 , MS 2 , and MS 3 , a main driver 102 a, and a main MCU 102 b. One end of the plurality of main switching elements MS 1 , MS 2 , and MS 3 may be connected to the plurality of solenoid coils 30 a and 30 b and the other end may be connected to the ground. In this case, the plurality of main switching elements MS 1 , MS 2 , and MS 3 may include main driving switching elements MS 1 and MS 2 and main cut-off switching elements MS 3 . The main driving switching elements MS 1 and MS 2 may include a first main driving switching element MS 1 and a second main driving switching element MS 2 , and may be further provided in three or more, and the main cut-off switching elements MS 3 may be provided in two or more. Here, the main cut-off switching element MS 3 may be provided separately from the main driver 102 a to be described later, or may be provided in an integrated type to the main driver 102 a. The main driver 102 a receives battery power from the battery 10 by a switching turn-on operation of the plurality of main switching elements MS 1 , MS 2 , MS 3 , and drives the plurality of solenoid coils 30 a , 30 b , and the main MCU 102 b may control the main driver 102 a. The solenoid valve driving apparatus according to an exemplary embodiment of the present invention may further include a plurality of main diodes MD 1 and MD 2 . At this time, the plurality of main diodes MD 1 and MD 2 may include a first main diode MD 1 and a second main diode MD 2 , one end of the plurality of main diodes MD 1 and MD 2 may be connected to the main driving switching elements MS 1 and MS 2 , and the other end may be connected to the plurality of solenoid coils 30 a and 30 b. The plurality of main diodes MD 1 and MD 2 allow current from the plurality of solenoid coils 30 a and 30 b to the main driving switching elements MS 1 and MS 2 , respectively, and block currents from the sub driving switching elements SS 1 and SS 2 to the plurality of solenoid coils 30 a and 30 b. This, the plurality of main diodes (MD 1 , MD 2 ) is to not affect the normal operation of the solenoid coil ( 30 b ) due to an abnormal operation of the solenoid coil ( 30 a ) among the plurality of solenoid coils ( 30 a , 30 b ). The sub electronic elements of the sub ECU 104 may include a plurality of sub switching elements SS 1 , SS 2 , and SS 3 , a sub driver 104 a , and a sub MCU 104 b. One end of the plurality of sub switching elements SS 1 , SS 2 , and SS 3 may be connected to the plurality of solenoid coils 30 a and 30 b , and the other end may be connected to the battery 10 . In this case, the plurality of sub switching elements SS 1 , SS 2 , and SS 3 may include sub driving switching elements SS 1 and SS 2 and a sub cut-off switching element SS 3 . The sub driving switching elements SS 1 and SS 2 may include a first sub driving switching element SS 1 and a second sub driving switching element SS 2 , and the sub driving switching elements SS 1 and SS 2 may be further provided in three or more, and the sub cut-off switching elements SS 3 may be further provided in two or more. Here, the sub cut-off switching element SS 3 may be provided separately from the sub driver 104 a to be described below, or may be provided in an integrated type to the sub driver 104 a. The sub driver 104 a may drive the plurality of solenoid coils 30 a and 30 b by receiving battery power from the battery 10 by the switching turn-on operation of the plurality of sub switching elements SS 1 , SS 2 , SS 3 . The solenoid valve driving apparatus according to an exemplary embodiment of the present invention may further include a plurality of sub diodes SD 1 and SD 2 . In this case, the plurality of sub diodes SD 1 and SD 2 may include a first sub diode SD 1 and a second sub diode SD 2 , one end of the plurality of sub diodes SD 1 and SD 2 is connected to the sub driving switching elements SS 1 and SS 2 , and the other end is connected to the plurality of solenoid coils 30 a and 30 b and may be connected to face the plurality of main diodes MD 1 and MD 2 . When at least one of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 operates abnormally, the sub MCU 104 b communicates with the main MCU 102 b to turn on the sub driver 104 a , thereby controlling the sub driver 104 a. Here, the main MCU 102 b determines that at least one output signal of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the set target signal, the main MCU 102 b may determine that at least one of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , and MS 3 operate abnormally. In this case, the output signal may be at least one of an output voltage value and an output current value, and the target signal may be at least one of a target voltage value and a target current value. As an example, as shown in FIG. 4 , the main MCU 102 b determines that the first output signal of the first main driving switching element MS 1 among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the first target signal among the target signals, the main MCU 102 b may determine that the first main driving switching element MS 1 operates abnormally. As another example, as shown in FIG. 5 , when the main MCU 102 b determines that the second output signal of the second main driving switching element MS 2 among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the second target signal among the target signals, the main MCU 102 b may determine that the second main driving switching element MS 2 operates abnormally. As another example, as shown in FIG. 6 , when the main MCU 102 b determines that the third output signal of the main cut-off switching element MS 3 among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the third target signal among the target signals, the main MCU 102 b may determine that the main cut-off switching element MS 3 operates abnormally. As another example, as shown in FIG. 7 , when the main MCU 102 b determines that the fourth output signal of the main driver 102 a among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the fourth target signal among the target signals, the main MCU 102 b may determine that the main driver 102 a operates abnormally. FIG. 8 is a circuit diagram illustrating a solenoid valve driving apparatus according to an exemplary embodiment of the present invention as another example, FIG. 9 is a circuit diagram illustrating a state in which the first main voltage regulating switching element shown in FIG. 8 is abnormally operated, as another example, FIG. 10 is a circuit diagram illustrating a state in which the second main voltage regulating switching element shown in FIG. 8 is abnormally operated, as another example, FIG. 11 is a circuit diagram illustrating a state in which the main power supply cutoff switching element shown in FIG. 8 is abnormally operated, as another example, and FIG. 12 is a circuit diagram illustrating a state in which the main driver shown in FIG. 8 is abnormally operated, as another example. Referring to FIGS. 8 to 12 , the solenoid valve driving apparatus according to an exemplary embodiment of the present invention may include a plurality of solenoid coils 30 a and 30 b , a main ECU 102 and a sub ECU 104 . The plurality of solenoid coils 30 a and 30 b may be connected to the ground. In this case, the plurality of solenoid coils 30 a and 30 b may include a first solenoid coil 30 a and a second solenoid coil 30 b , and may be further provided in three or more. Here, the solenoid coils 30 a and 30 b may be designated as a plurality of groups, and the plurality of groups may be powered and cut off by the main cutoff switching element MS 3 and the sub cutoff switching element SS 3 . The main electronic elements of the main ECU 102 may include a plurality of main switching elements MS 1 , MS 2 , and MS 3 , a main driver 102 a, and a main MCU 102 b. One end of the plurality of main switching elements MS 1 , MS 2 , and MS 3 may be connected to the plurality of solenoid coils 30 a and 30 b and the other end may be connected to the battery 10 . In this case, the plurality of main switching elements MS 1 , MS 2 , and MS 3 may include main driving switching elements MS 1 and MS 3 and a main cut-off switching element MS 2 . The main driving switching elements MS 1 and MS 3 may include a first main driving switching element MS 1 and a second main driving switching element MS 3 , and three or more may be further provided, and a main cut-off switching element MS 2 may be further provided in two or more. Here, the main cut-off switching element MS 2 may be provided separately from the main driver 102 a to be described below, or may be provided in an integrated type to the main driver 102 a. The main driver 102 a may drive a plurality of solenoid coils 30 a and 30 b by receiving battery power from the battery 10 by a switching turn-on operation of the plurality of main switching elements MS 1 , MS 2 , and MS 3 , and the main MCU 102 b may control the main driver 102 a. The solenoid valve driving apparatus according to an exemplary embodiment of the present invention may further include a plurality of main diodes MD 1 and MD 2 . At this time, the plurality of main diodes MD 1 and MD 2 may include a first main diode MD 1 and a second main diode MD 2 , one end of the plurality of main diodes MD 1 and MD 2 may be connected to the main driving switching elements MS 1 and MS 2 , and the other end may be connected to the plurality of solenoid coils 30 a and 30 b. This, the plurality of main diodes (MD 1 , MD 2 ) is to not affect the normal operation of the solenoid coil ( 30 b ) due to an abnormal operation of the solenoid coil ( 30 a ) among the plurality of solenoid coils ( 30 a , 30 b ). The sub electronic elements of the sub ECU 104 may include a plurality of sub switching elements SS 1 , SS 2 , and SS 3 , a sub driver 104 a , and a sub MCU 104 b. One end of the plurality of sub switching elements SS 1 , SS 2 , and SS 3 may be connected to the plurality of solenoid coils 30 a and 30 b , and the other end may be connected to the battery 10 . In this case, the plurality of sub switching elements SS 1 , SS 2 , and SS 3 may include sub driving switching elements SS 1 and SS 3 and a sub cut-off switching element SS 2 . The sub driving switching elements SS 1 and SS 3 may include a first sub driving switching element SS 1 and a second sub driving switching element SS 3 , and the sub driving switching elements SS 1 and SS 3 may be further provided in three or more, and the sub cut-off switching elements SS 2 may be further provided in two or more. Here, the sub cut-off switching element SS 2 may be provided separately from the sub driver 104 a to be described below, or may be provided in an integrated type to the sub driver 104 a. The sub driver 104 a may drive the plurality of solenoid coils 30 a and 30 b by receiving battery power from the battery 10 by the switching turn-on operation of the plurality of sub switching elements SS 1 , SS 2 , SS 3 . The solenoid valve driving apparatus according to an exemplary embodiment of the present invention may further include a plurality of sub diodes SD 1 and SD 2 . In this case, the plurality of sub diodes SD 1 and SD 2 may include a first sub diode SD 1 and a second sub diode SD 2 , one end of the plurality of sub diodes SD 1 and SD 2 is connected to the sub driving switching elements SS 1 and SS 2 , and the other end is connected to the plurality of solenoid coils 30 a and 30 b and may be connected to face the plurality of main diodes MD 1 and MD 2 . The plurality of sub diodes SD 1 and SD 2 allow currents from the plurality of solenoid coils 30 a and 30 b to the sub driving switching elements SS 1 and SS 2 , respectively, and block currents from the sub driving switching elements SS 1 and SS 2 to the plurality of solenoid coils 30 a and 30 b. When at least one of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 operates abnormally, the sub MCU 104 b communicates with the main MCU 102 b to turn on the sub driver 104 a , thereby controlling the sub driver 104 a. Here, when the main MCU 102 b determines that at least one output signal of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the set target signal, the main MCU 102 b may determine that at least one of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , and MS 3 operate abnormally. In this case, the output signal may be at least one of an output voltage value and an output current value, and the target signal may be at least one of a target voltage value and a target current value. As an example, as shown in FIG. 9 , the main MCU 102 b determines that the first output signal of the first main driving switching element MS 1 among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the first target signal among the target signals, the main MCU 102 b may determine that the first main driving switching element MS 1 operates abnormally. As another example, as shown in FIG. 10 , when the main MCU 102 b determines that the second output signal of the second main driving switching element MS 2 among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the second target signal among the target signals, the main MCU 102 b may determine that the second main driving switching element MS 2 operates abnormally. As another example, as shown in FIG. 11 , when the main MCU 102 b determines that the third output signal of the main cut-off switching element MS 3 among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the third target signal among the target signals, the main MCU 102 b may determine that the main cut-off switching element MS 3 operates abnormally. As another example, as shown in FIG. 12 , when the main MCU 102 b determines that the fourth output signal of the main driver 102 a among the output signals of the main driver 102 a and the output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the fourth target signal among the target signals, the main MCU 102 b may determine that the main driver 102 a operates abnormally. FIG. 13 is a flowchart illustrating a method of driving a solenoid valve of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention as an example. As an example, referring to FIG. 13 , a method of driving a solenoid valve 1300 of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention includes a first step S 1302 , a second step S 1304 , and a third step S 1306 , S 1308 , S 1310 , a fourth step S 1312 and a fifth step S 1314 . In the first step S 1302 , a switching turn-on signal is provided from the main driver ( 102 a in FIG. 1 ) to a plurality of main switching elements (MS 1 , MS 2 , MS 3 in FIG. 3 ) including a main driving switching element (MS 1 , MS 2 in FIG. 3 ) and a main cut-off switching element (MS 3 in FIG. 3 ), connected at one end to a plurality of solenoid coils ( 30 a and 30 b in FIG. 3 ) and the other end to ground. In the second step S 1304 , the plurality of solenoid coils ( 30 a , 30 b in FIG. 3 ) connected to the battery ( 10 in FIG. 3 ) by receiving battery power from the battery ( 10 in FIG. 3 ) by a switching turn-on operation of a plurality of main switching elements (MS 1 , MS 2 , MS 3 in FIG. 3 ) are driven by the main driver ( 102 a in FIG. 3 ). In the third step S 1306 , it is determined whether at least one of the main driver ( 102 a in FIG. 3 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 in FIG. 3 ) operate abnormally in the main MCU ( 102 b in FIG. 3 ) controlling the main driver ( 102 a in FIG. 3 ). At this time, the third step S 1306 is when determining whether at least one of the main driver ( 102 a of FIGS. 4 to 7 ) and a plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 4 to 7 ) is abnormally operated, it is possible to determine whether the output signal of at least one of the main driver ( 102 A of FIGS. 4 to 7 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 4 to 7 ) in the main MCU ( 102 B of FIGS. 4 to 7 ) is not a target signal set in the main MCU ( 102 B of FIGS. 4 to 7 ). In the third step S 1308 , when it is determined that at least one of the main driver ( 102 a of FIG. 7 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 4 to 6 ) in the main MCU ( 102 b of FIGS. 4 to 7 ) operate abnormally, a drive-off command is transmitted from the main MCU ( 102 b of FIGS. 4 to 7 ) to the main driver ( 102 a of FIGS. 4 to 7 ). In the third step S 1310 , the sub driver ( 104 a in FIGS. 4 to 7 ) is turned on in the sub MCU ( 104 a of FIGS. 4 to 7 ) which communicates with the main MCU ( 102 b of FIGS. 4 to 7 ) and controls the sub driver ( 104 a of FIGS. 4 to 7 ). In the fourth step S 1312 , a switching turn-on signal is provided from the sub driver ( 104 a in FIGS. 4 to 7 ) to a plurality of sub switching elements (SS 1 , SS 2 , SS 3 in FIGS. 4 to 7 ) including a sub driving switching element (SS 1 , SS 2 in FIGS. 4 to 7 ) and a sub cut-off switching element (SS 3 in FIGS. 4 to 7 ), connected at one end to a plurality of solenoid coils ( 30 a and 30 b in FIGS. 4 to 7 ) and the other end to ground. In the fifth step S 1314 , the plurality of solenoid coils ( 30 a , 30 b in FIGS. 4 to 7 ) connected to the battery ( 10 in FIGS. 4 to 7 ) by receiving battery power from the battery ( 10 in FIGS. 4 to 7 ) by a switching turn-on operation of a plurality of sub switching elements (SS 1 , SS 2 , SS 3 in FIGS. 4 to 7 ) are driven by the sub driver ( 104 a in FIGS. 4 to 7 ). As another example, referring to FIG. 13 , a method of driving a solenoid valve 1300 of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention includes a first step (S 1302 ), a second step (S 1304 ), and a third step (S 1306 , S 1308 , S 1310 ), a fourth step (S 1312 ) and a fifth step (S 1314 ). In the first step S 1302 , a switching turn-on signal is provided from the main driver ( 102 a in FIG. 8 ) to a plurality of main switching elements (MS 1 , MS 2 , MS 3 in FIG. 8 ) including a main driving switching element (MS 1 , MS 3 in FIG. 8 ) and a main cut-off switching element (MS 2 in FIG. 8 ), connected at one end to a plurality of solenoid coils ( 30 a and 30 b in FIG. 8 ) and the other end to ground. In the second step S 1304 , the plurality of solenoid coils ( 30 a , 30 b in FIG. 8 ) connected to the battery ( 10 in FIG. 8 ) by receiving battery power from the battery ( 10 in FIG. 8 ) by a switching turn-on operation of a plurality of main switching elements (MS 1 , MS 2 , MS 3 in FIG. 8 ) are driven by the main driver ( 102 a in FIG. 8 ). In the third step S 1306 , it is determined whether at least one of the main driver ( 102 a in FIG. 6 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 in FIG. 6 ) operate abnormally in the main MCU ( 102 b in FIG. 6 ) controlling the main driver ( 102 a in FIG. 6 ). At this time, the third step S 1306 is when determining whether at least one of the main driver ( 102 a of FIGS. 9 to 12 ) and a plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 9 to 12 ) is abnormally operated, it is possible to determine whether the output signal of at least one of the main driver ( 102 A of FIGS. 9 to 12 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 9 to 12 ) in the main MCU ( 102 B of FIGS. 9 to 12 ) is not a target signal set in the main MCU ( 102 B of FIGS. 9 to 12 ). In the third step S 1308 , when it is determined that at least one of the main driver ( 102 a of FIG. 12 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 9 to 11 ) in the main MCU ( 102 b of FIGS. 9 to 12 ) operate abnormally, a drive-off command is transmitted from the main MCU ( 102 b of FIGS. 9 to 11 ) to the main driver ( 102 a of FIGS. 9 to 11 ). In the third step S 1310 , the sub driver ( 104 a in FIGS. 9 to 12 ) is turned on in the sub MCU ( 104 a of FIGS. 9 to 12 ) which communicates with the main MCU ( 102 b of FIGS. 9 to 12 ) and controls the sub driver ( 104 a of FIGS. 9 to 12 ). In the fourth step S 1312 , a switching turn-on signal is provided from the sub driver ( 104 a in FIGS. 9 to 12 ) to a plurality of sub switching elements (SS 1 , SS 2 , SS 3 in FIGS. 9 to 12 ) including a sub driving switching element (SS 1 , SS 2 in FIGS. 9 to 12 ) and a main cut-off switching element (SS 3 in FIGS. 9 to 12 ), connected at one end to a plurality of solenoid coils ( 30 a and 30 b in FIGS. 9 to 12 ) and the other end to ground. In the fifth step S 1314 , the plurality of solenoid coils ( 30 a , 30 b in FIGS. 9 to 12 ) connected to the battery ( 10 in FIGS. 9 to 12 ) by receiving battery power from the battery ( 10 in FIGS. 9 to 12 ) by a switching turn-on operation of a plurality of sub switching elements (SS 1 , SS 2 , SS 3 in FIGS. 9 to 12 ) are driven by the sub driver ( 104 a in FIGS. 9 to 12 ). FIG. 14 is a circuit diagram illustrating a state in which a solenoid valve driving apparatus according to an exemplary embodiment of the present invention is connected to an identification apparatus, and FIG. 15 is a circuit diagram illustrating a state in which a solenoid valve driving apparatus according to an exemplary embodiment of the present invention is connected to an identification apparatus as another example. Referring to FIGS. 14 and 15 , when it is determined that at least one output signal of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 is not the set target signal, the main MCU 102 b of the solenoid valve driving apparatus according to an exemplary embodiment of the present invention may further transmit an identification command to the identification apparatus 50 from the main MCU 102 b In order to identify that the identification apparatus 50 operates abnormally in at least one of the current main driver 102 a and the current plurality of main switching elements MS 1 , MS 2 , MS 3 . At this time, although not shown, the identification apparatus 50 may include at least one of an alarm (not shown) and a speaker (not shown), and may identify that the current main driver and at least one of the plurality of main switching elements currently operate abnormally through at least one of an alarm operation of an alarm (not shown) and a voice operation of a speaker (not shown). In addition, although not shown, the identification apparatus 50 may include at least one of an instrument panel (not shown) mounted to allow the driver to grasp information or status of the vehicle by interfacing the user with the machine, a human machine interface (HMI) module (not shown) and a head-up display (HUD) module (not shown), and may identify that the current main driver 102 a and at least one of the plurality of main switching elements MS 1 , MS 2 , and MS 3 currently operate abnormally through at least one of a cluster message display operation of an instrument panel (not shown), an HMI message display operation of an HMI module (not shown), and a HUD message display operation of a HUD module (not shown). FIG. 16 is a flow chart illustrating a method of driving a solenoid valve of a solenoid valve driving apparatus according to an exemplary embodiment of the present invention as another example. Referring to FIG. 16 , in the third step S 1607 of the solenoid valve driving method 1600 of the solenoid valve driving apparatus according to an exemplary embodiment of the present invention, when it is determined that the output signal of at least one of the main driver ( 102 a of FIGS. 14 and 15 ) and the plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 14 and 15 ) in the main MCU ( 102 b of FIGS. 14 and 15 ) is not the set target signal, the main MCU ( 102 b of FIGS. 14 and 15 ) may further transmit an identification command to the identification apparatus ( 50 of FIGS. 14 and 15 ) from the main MCU ( 102 b of FIGS. 14 and 15 ) In order to identify that the identification apparatus ( 50 of FIGS. 14 and 15 ) operates abnormally in at least one of the current main driver 102 a and the current plurality of main switching elements (MS 1 , MS 2 , MS 3 of FIGS. 14 and 15 ). Meanwhile, although not shown, the main driver 102 a and the sub driver 104 a of the solenoid valve driving apparatus according to an embodiment of the present invention may include a Pulse Width Modulation (PWM) generator (not shown) for providing a switching turn-on signal to the plurality of main switching elements MS 1 , MS 2 , MS 3 and the plurality of sub switching elements (SS 1 , SS 2 , SS 3 ). The main driver 102 a and the main MCU 102 b of the solenoid valve driving apparatus according to an embodiment of the present invention, although not shown, may include at least one of a voltage sensor (not shown), a current sensor (not shown), and a shunt resistor (not shown), and may determine whether the main driver 102 a and at least one of the plurality of main switching elements MS 1 , MS 2 , and MS 3 operate abnormally using output signals of the plurality of main switching elements MS 1 , MS 2 , MS 3 and output signals of the main driver 102 a of the sensed by at least one of the voltage sensor (not shown), the current sensor (not shown), and the shunt resistor (not shown). The main driver 102 a and the sub driver 104 a of the solenoid valve driving apparatus according to an embodiment of the present invention may be a driving IC, and the driving IC may be an application specific integrated circuit (ASIC). A plurality of main switching elements (MS 1 , MS 2 , MS 3 ) and a plurality of sub switching elements (SS 1 , SS 2 , SS 3 ) of the solenoid valve driving apparatus according to an embodiment of the present invention may include at least one of conventional Metal-Oxide Semiconductor Field Effect Transistor (MOSFET), Bipolar Junction Transistor (BTJ), Insulated gate bipolar transistor (IGBT), Gate Turn-Off (GTO) thyristor, MOS Controlled Thyristor(MCT), Silicon Controlled Rectifier Thyristor (SCR Thyristor), a mechanical relay switch and an electronic relay switch, in consideration of the switching loss rate and power consumption. The main MCU 102 b of the solenoid valve driving apparatus according to an embodiment of the present invention may perform serial communication with the main driver 102 a, and the sub MCU 104 b may perform serial communication with the sub driver 104 a. The main MCU 102 b of the solenoid valve driving apparatus according to an embodiment of the present invention, although not shown, may perform wired communication with the sub MCU 104 b , and include includes at least one of a Bluetooth module (not shown), a Wi-Fi module (not shown), a Zigbee module (not shown), a Z-Wave module (not shown), a Wibro module (not shown), a Wi-Max module (not shown), LTE module (not shown), LTE Advanced module (not shown), Li-Fi module (not shown), and Beacon module (not shown) to perform wireless communication with the sub MCU 104 b while taking into account the distortion rate and transmission rate of the communication signal. The solenoid valve driving apparatus according to an embodiment of the present invention may be applied to a brake apparatus (not shown) that performs an anti-lock brake system (ABS) mode (not shown), as an example, may be applied to an IDB (Integrated Dynamic Brake, not shown) that generates a boosting force and a braking force with one motor as another example, and may be applied to a brake apparatus for autonomous driving (not shown) as another example. As such, since the solenoid valve driving apparatus according to an embodiment of the present invention can operate the solenoid valve 101 a by forming a magnetic field by the operation of the solenoid coils 30 a and 30 b in the sub ECU 104 instead of the main ECU 102 , it is possible to efficiently drive the solenoid valves 30 a and 30 b. In the solenoid valve driving apparatus and the solenoid valve driving method 1300 according to an embodiment of the present invention, since the sub driver 104 a may be turned on when at least one of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 operates abnormally, it is possible to efficiently drive the solenoid coils 30 a and 30 b. In addition, the solenoid valve driving apparatus and the solenoid valve driving method 1300 according to an embodiment of the present invention may identify that the current main driver 102 a and at least one of the plurality of main switching elements MS 1 , MS 2 , and MS 3 currently operate abnormally. Accordingly, since the solenoid valve driving apparatus and the solenoid valve driving method 1300 according to an embodiment of the present invention may recognize that the current main driver 102 a and at least one of the plurality of main switching elements MS 1 , MS 2 , and MS 3 currently operate abnormally, it is possible to shorten the maintenance time for maintenance of the main driver 102 a and the plurality of main switching elements MS 1 , MS 2 , MS 3 .